CN106408642A - Method for realizing three-dimensional simulation of service robot - Google Patents
Method for realizing three-dimensional simulation of service robot Download PDFInfo
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- CN106408642A CN106408642A CN201610843744.9A CN201610843744A CN106408642A CN 106408642 A CN106408642 A CN 106408642A CN 201610843744 A CN201610843744 A CN 201610843744A CN 106408642 A CN106408642 A CN 106408642A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T15/00—3D [Three Dimensional] image rendering
- G06T15/005—General purpose rendering architectures
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T17/00—Three dimensional [3D] modelling, e.g. data description of 3D objects
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T2215/00—Indexing scheme for image rendering
- G06T2215/16—Using real world measurements to influence rendering
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Abstract
The invention provides a method for realizing three-dimensional simulation of a service robot. The method comprises the steps of developing a three-dimensional simulation system platform based on Visual Studio 2010/2012 in a Windows operating system environment, and realizing three-dimensional simulation of the service robot by utilizing the three-dimensional simulation system platform, wherein the architecture of the three-dimensional simulation system is divided into three layers including a bottom layer used for programming based on the Windows operating system environment, an intermediate layer used for calling a universal module, a functional module and an API, and an application layer. By adopting the method, environmental models are converted into uniform graph modules, environment information can be generated quickly, and the method has the advantages of being flexible, universe and rapid and supports secondary development by the user; meanwhile, the method effectively reduces the entry threshold of robot development, unnecessary physical loss can be reduced by means of the interactive simulation environment platform, and project expenses can be reduced.
Description
Technical field
The present invention relates to three-dimensional simulation technique field, more particularly, to a kind of method realizing service robot three-dimensional artificial.
Background technology
Existing Visualized Monitoring System, only plays supervisory function bit, and in actual motion, robot operating system directly enters
Row Physical Experiment, and mostly service robot emulation on the market is two dimensional form, interactivity and intuitive be not strong, does not carry out true
Real emulation, easily causes much unnecessary loss to direct operation robot entity.
Content of the invention
Technical problem solved by the invention is to provide a kind of method realizing service robot three-dimensional artificial, to solve
Shortcoming in above-mentioned background technology.
Technical problem solved by the invention employs the following technical solutions to realize：
A kind of method realizing service robot three-dimensional artificial, under Windows operating system environment, based on Visual
Studio 2010/2012 develops Three-dimensional Simulation System platform, realizes service robot using Three-dimensional Simulation System platform three-dimensional imitative
Very, Three-dimensional Simulation System platform architecture is divided into three layers, including bottom, intermediate layer and application layer, comprises the following steps that：
1）Using Visual Studio 2010/2012 in bottom, the system based on MFC is built in the application of Engineering Oriented three-dimensional artificial
Framework；
2）In the system framework based on MFC, add OpenGL library file and header file, and complete Initialize installation, adjust simultaneously
Carry out environment module drafting with intermediate layer OpenGL order, to set up robot module and furniture environment module；
3）Set up coordinate system, coordinate system includes OpenGL coordinate system, window coordinates system and target-based coordinate system；
4）To step 3）In coordinate system carry out Coordinate Conversion, by following the tracks of viewpoint and fixed view mode and calling OpenGL
Transfer function realizes fixed point conversion；
5）Using 3DS Max Software on Drawing three dimensional model for robot, and texture mapping and care are carried out to three dimensional model for robot
Render, to increase the authenticity of display effect；
6）By step 5）The three dimensional model for robot of middle drafting saves as 3DS file；
7）Read step 6 in engineering）The 3DS file of middle storage, and Object Management group is carried out to threedimensional model；
8）Visual angle in system framework is interacted by left mouse button, and calls the perspective projection function in OpenGL to realize；
9）Realize the animation that virtual emulation smooths using OpenGL dual-cache mechanism in application layer.
In the present invention, bottom is used for programming based under Windows operating system environment, including various MFCs, such as
WindowsAPI、OpenGL（OpenGraphicsLibrary）Shape library and visual c++ MFC class libraries.
In the present invention, intermediate layer is used for calling general module, functional module and API, creates complete figure application journey
Sequence method is：Using bottom function, integrate and be packaged into senior API or the functional module with extension, such as conventional geometric graphic element is painted
Molding block, senior pel drafting module, view window module.
In the present invention, application layer is the system framework built towards the application of concrete engineering three-dimensional artificial.
In the present invention, step 6）In, the header file of 3DS file is Read3DS.h, and source file is Read3DS.cpp.
Beneficial effect：
1）Environmental model is converted into unified figure module by interactive environment of the present invention, can quickly generate environmental information, have
Flexibly, general, quick characteristic, supports user's secondary development；
2）The present invention effectively reduces the entrance door of robot development, so that more students, developer, fan is thrown
Enter in robot development；
3）Robot interactive formula simulated environment platform of the present invention can reduce unnecessary Physical Loss or Damage, simultaneously reduce project open
?.
Brief description
Fig. 1 is the Three-dimensional Simulation System platform level structural representation of presently preferred embodiments of the present invention.
Fig. 2 is the master-plan block schematic illustration of presently preferred embodiments of the present invention.
Fig. 3（a）It is the window coordinates system initialization schematic diagram in presently preferred embodiments of the present invention.
Fig. 3（b）It is schematic diagram after the window coordinates system conversion in presently preferred embodiments of the present invention.
Fig. 4 is the dolly chassis model schematic of the 3DS Max Software on Drawing in presently preferred embodiments of the present invention.
Fig. 5 is the mock-up funiture schematic diagram of the 3DS Max Software on Drawing in presently preferred embodiments of the present invention.
Specific embodiment
In order that technological means, creation characteristic, reached purpose and effect that the present invention realizes are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
A kind of method realizing service robot three-dimensional artificial, as shown in Fig. 1～2, in Windows operating system environment
Under, Three-dimensional Simulation System platform is developed based on Visual Studio 2010/2012, realizes clothes using Three-dimensional Simulation System platform
Business robot three-dimensional emulation, Three-dimensional Simulation System platform architecture is divided into three layers, including bottom, intermediate layer and application layer, concrete step
Suddenly as follows：
1）Using Visual Studio 2010/2012 in bottom, the system based on MFC is built in the application of Engineering Oriented three-dimensional artificial
Framework；
2）In the system framework based on MFC, add OpenGL library file and header file, and complete Initialize installation, adjust simultaneously
Carry out environment module drafting with intermediate layer OpenGL order, to set up robot module and furniture environment module；
3）Set up coordinate system, coordinate system includes OpenGL coordinate system, window coordinates system and target-based coordinate system；
4）To step 3）In coordinate system carry out Coordinate Conversion, by following the tracks of viewpoint and fixed view mode and calling OpenGL
Transfer function realizes fixed point conversion, and when setting up window coordinates system, initialized coordinate system is Fig. 3（a）, then carry out coordinate and turn
Change, make the central point of window coordinates system（0,0,0）It is transformed into center Screen, such as accompanying drawing 3（b）, OpenGL transfer function is
GlTranslatef () and glRotatef ()；
5）Using 3DS Max Software on Drawing three dimensional model for robot, as shown in Fig. 4～Fig. 5, with dolly chassis and domestic environment three
As a example dimension module, and texture mapping is carried out to three dimensional model for robot and care renders, to increase the authenticity of display effect；
6）By step 5）The three dimensional model for robot of middle drafting saves as 3DS file；
7）Read step 6 in engineering）The 3DS file of middle storage, and Object Management group is carried out to threedimensional model；
8）Visual angle in system framework is interacted by left mouse button, calls the perspective projection function in OpenGL
gluPerspective（）Realize；
9）Realize, in application layer, the animation that virtual emulation smooths using OpenGL dual-cache mechanism, call OpenGL's
glutSwapBuffers（）.
In the present embodiment, bottom is used for programming based under Windows operating system environment, including various MFCs,
As WindowsAPI, OpenGL（OpenGraphicsLibrary）Shape library and visual c++ MFC class libraries.
In the present embodiment, intermediate layer is used for calling general module, functional module and API, creates complete figure application
Program technic is：Using bottom function, integrate and be packaged into senior API or the functional module with extension, such as conventional geometric graphic element
Drafting module, senior pel drafting module, view window module.
In the present embodiment, application layer is the system framework built towards the application of concrete engineering three-dimensional artificial.
In the present embodiment, step 6）In, the header file of 3DS file is Read3DS.h, and source file is Read3DS.cpp.
General principle and principal character and the advantages of the present invention of the present invention have been shown and described above.The technology of the industry
, it should be appreciated that the present invention is not restricted to the described embodiments, the simply explanation described in above-described embodiment and specification is originally for personnel
The principle of invention, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes
Change and improvement both falls within scope of the claimed invention.Claimed scope by appending claims and its
Equivalent thereof.
Claims (6)
1. a kind of method realizing service robot three-dimensional artificial is it is characterised in that under Windows operating system environment, base
Develop Three-dimensional Simulation System platform in Visual Studio 2010/2012, realize server using Three-dimensional Simulation System platform
Device people's three-dimensional artificial, Three-dimensional Simulation System platform architecture is divided into three layers, and including bottom, intermediate layer and application layer, concrete steps are such as
Under：
1）Using Visual Studio 2010/2012 in bottom, the system based on MFC is built in the application of Engineering Oriented three-dimensional artificial
Framework；
2）In the system framework based on MFC, add OpenGL library file and header file, and complete Initialize installation, adjust simultaneously
Carry out environment module drafting with intermediate layer OpenGL order, to set up robot module and furniture environment module；
3）Set up coordinate system, coordinate system includes OpenGL coordinate system, window coordinates system and target-based coordinate system；
4）To step 3）In coordinate system carry out Coordinate Conversion, by following the tracks of viewpoint and fixed view mode and calling OpenGL
Transfer function realizes fixed point conversion；
5）Using 3DS Max Software on Drawing three dimensional model for robot, and texture mapping and care are carried out to three dimensional model for robot
Render, to increase the authenticity of display effect；
6）By step 5）The three dimensional model for robot of middle drafting saves as 3DS file；
7）Read step 6 in engineering）The 3DS file of middle storage, and Object Management group is carried out to threedimensional model；
8）Visual angle in system framework is interacted by left mouse button, and calls the perspective projection function in OpenGL to realize；
9）Realize the animation that virtual emulation smooths using OpenGL dual-cache mechanism in application layer.
2. a kind of method realizing service robot three-dimensional artificial according to claim 1 is it is characterised in that bottom is used for
Program based under Windows operating system environment, including various MFCs.
3. a kind of method realizing service robot three-dimensional artificial according to claim 1 is it is characterised in that intermediate layer is used
In calling general module, functional module and API.
4. a kind of method realizing service robot three-dimensional artificial according to any one of claims 1 to 3, its feature exists
In creating complete graphics application program method is：Using bottom function, integrate and be packaged into senior API or the work(with extension
Can module.
5. a kind of method realizing service robot three-dimensional artificial according to claim 1 is it is characterised in that application layer is
The system framework built towards the application of concrete engineering three-dimensional artificial.
6. a kind of method realizing service robot three-dimensional artificial according to claim 1 is it is characterised in that step 6）
In, the header file of 3DS file is Read3DS.h, and source file is Read3DS.cpp.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123728A (en) * | 2018-10-30 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle simulation method, device, equipment and computer readable medium |
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| CN102662674A (en) * | 2012-04-12 | 2012-09-12 | 铁道第三勘察设计院集团有限公司 | Method for building universal development platform of three-dimensional engineering simulation system |
| EP2793127A1 (en) * | 2013-04-19 | 2014-10-22 | Huawei Technologies Co., Ltd. | Method for displaying a 3D scene graph on a screen |
| CN105354355A (en) * | 2015-09-28 | 2016-02-24 | 中国人民解放军辽宁省军区装备部军械修理所 | Three-dimensional motion scene based simulation system design and realization method |
| CN105468432A (en) * | 2015-11-19 | 2016-04-06 | 江西洪都航空工业集团有限责任公司 | Realization method based on robot visual interactive simulation environment |
-
2016
- 2016-09-23 CN CN201610843744.9A patent/CN106408642A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102662674A (en) * | 2012-04-12 | 2012-09-12 | 铁道第三勘察设计院集团有限公司 | Method for building universal development platform of three-dimensional engineering simulation system |
| EP2793127A1 (en) * | 2013-04-19 | 2014-10-22 | Huawei Technologies Co., Ltd. | Method for displaying a 3D scene graph on a screen |
| CN105354355A (en) * | 2015-09-28 | 2016-02-24 | 中国人民解放军辽宁省军区装备部军械修理所 | Three-dimensional motion scene based simulation system design and realization method |
| CN105468432A (en) * | 2015-11-19 | 2016-04-06 | 江西洪都航空工业集团有限责任公司 | Realization method based on robot visual interactive simulation environment |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111123728A (en) * | 2018-10-30 | 2020-05-08 | 百度在线网络技术（北京）有限公司 | Unmanned vehicle simulation method, device, equipment and computer readable medium |
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